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一种基于GRD格式地图的路径生成方法
Alternative TitlePath generation method based on GRD format map for underwater robot
邵刚; 王轶群; 徐春晖; 刘健; 赵宏宇
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及水下机器人技术领域,尤其涉及一种基于GRD格式地图的路径生成方法,实现自主水下机器人在变化海洋环境下的路径规划。包括以下步骤:读取GRD格式的地图文件获得地图信息;将获得的地图信息载入到地图转化软件中,根据地图信息,进行地图信息识别;根据潜水器的起始点,规划出下一个航行点的坐标,通常下一个航行点使用的是极坐标,将极坐标转换成大地坐标系。与简单的路径规划方法比较,本方法具有更好的性能,在热液探测环境下更有优势,更能适应外界环境的改变,提高了AUV的工作能力。本方法移植方便,可以适用于各种水下机器人。
Other AbstractThe method involves reading the map file of GRD format to obtained map information. The map information is identified, according to the map information. The obtained map information is loaded in the map conversion software. The coordinate of a next navigation point is planned, according to the starting point of diving instrument. The polar coordinates of the navigation point are converted into ground coordinate system. The next navigation point is calculated, until detecting current depth or covering the map task requirement is satisfied.
PCT Attributes
Application Date2015-11-20
2017-05-31
Date Available2019-01-25
Application NumberCN201510822664.0
Open (Notice) NumberCN106767749A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20463
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
邵刚,王轶群,徐春晖,等. 一种基于GRD格式地图的路径生成方法[P]. 2017-05-31.
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